Dust detection method and apparatus for cleaning robot

Abstract

A dust detection method and apparatus of a cleaning robot. The dust detection method involves acquiring a floor image as a current floor image of a predetermined place at a current location of the cleaning robot in the predetermined place; obtaining a difference image between the current floor image and a background image selected from a feature map consisting of a plurality of floor images of the predetermined place; and detecting a dusty area based on the difference image and adjusting a cleaning power of the cleaning robot.

Description

CROSS-REFERENCE TO RELATED APPLICATIONThis application claims the priority of Korean Patent Application No. 2004-13569, filed on Feb. 27, 2004, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.BACKGROUND OF THE INVENTION1. Field of the InventionThe present invention relates to a cleaning robot, and more particularly, to a dust detection method and apparatus which can increase the efficiency of a cleaning process by automatically detecting dust on a floor, appropriately adjusting a cleaning power of a cleaning robot, and appropriately modifying a cleaning path of the cleaning robot.2. Description of Related ArtRecently, a variety of mobile robots, which generally include a driving means, sensors, and a travel controller and perform many useful functions while autonomously operating, have been developed. For example, a cleaning robot is a cleaning device that collects dust and dirt on the floor while autonomously moving about the ...

AI Technical Summary

Benefits of technology

The present invention provides a method and apparatus for detecting dust on a floor and adjusting the cleaning power of a cleaning robot accordingly. This is achieved by acquiring a floor image and comparing it with a background image to detect dusty areas. The cleaning power of the robot is then adjusted based on the difference image. The invention also includes a computer-readable recording medium and a cleaning robot with an image acquisition unit and image processing unit. The technical effects of the invention include improving the efficiency of the cleaning process by automatically detecting dust on the floor and adjusting the cleaning power of the robot, as well as modifying the cleaning path based on the detected dusty areas.

Problems solved by technology

However, the dust detectability of these two patented techniques may deteriorate after a period of use because there is a high probability of impurities being accumulated at the light receptor and the light emitter.

All of the above patented techniques cannot determine whether dust particles exist on the floor until they draw the dust through a suction passage.

In addition, the above patented techniques detect dust without considering the state of the floor, and thus, the efficiency of a cleaning process may deteriorate.

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